Moving body control device and moving body control method

Abstract

The purpose of the present disclosure is to provide a mobile body control device and a mobile body control method capable of both improving the transport efficiency of an elevator and improving the safety in a car of the elevator. A mobile body control device according to the present disclosure is provided with: an information acquisition unit that acquires sensor information including the number of passengers and the positions of passengers present in a car of an elevator; and a control unit that, on the basis of the sensor information acquired by the information acquisition unit, controls the moving body to rotate in the car when the distance between the moving body and the passenger is equal to or greater than a preset safe distance.

Description

Technical Field

[0001] The present disclosure relates to a moving body control device and a moving body control method for controlling a moving body that rides with people in an elevator. Background Art

[0002] Conventionally, a technology has been developed for controlling a moving body that moves between a plurality of different floors using an elevator in a facility.

[0003] For example, a technology is disclosed for improving the safety of passengers using an elevator by detecting the state inside the elevator car and exclusively limiting sharing with people (hereinafter referred to as "passengers") (for example, see Patent Document 1).

[0004] Prior Art Literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Publication No. 2012-106866 Summary of the invention

[0007] Problems to be solved by the invention

[0008] When the time is divided and allocated to different cars so that the moving body and the passengers do not take the elevators as in Patent Document 1, the moving body does not make the passengers wait, and the passengers do not make the moving body wait.

[0009] On the other hand, in order to improve the transportation efficiency of the elevator, when the moving body and the passengers are taken together in the elevator, the distance between the moving body and the passengers in the elevator car becomes closer. In this case, the moving body must avoid contact with the passengers, so it cannot move freely. In addition, since the front of the moving body is expected to be the traveling direction, it is necessary to rotate the moving body to change the direction of the moving body from the time of getting on the elevator to the time of getting off the elevator at the destination floor. However, when the distance between the moving body and the passengers is close, safety cannot be ensured when the moving body rotates.

[0010] The present disclosure is proposed to solve such a problem, and its purpose is to provide a moving body control device and a moving body control method, which can take into account both the improvement of the transportation efficiency of the elevator and the improvement of the safety in the elevator car.

[0011] Solutions to Solve Problems

[0012] In order to solve the above-mentioned problems, the mobile body control device disclosed in the present invention comprises: an information acquisition unit, which acquires sensor information including the positions and the number of passengers in the elevator car; and a control unit, which controls the mobile body to rotate in the car when the distance between the mobile body and the passengers is greater than a preset safety distance based on the sensor information acquired by the information acquisition unit.

[0013] Effects of the Invention

[0014] According to the present disclosure, it is possible to achieve both improvement in the transportation efficiency of an elevator and improvement in the safety in the elevator car. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a block diagram showing an example of the configuration of the mobile object control device according to the first embodiment.

[0016] Figure 2 This is a block diagram showing an example of the configuration of the moving object control system according to the first embodiment.

[0017] Figure 3 This is a flowchart showing an example of the operation of the mobile object control device according to the first embodiment.

[0018] Figure 4 This is a diagram for explaining the operation of the moving object according to the first embodiment.

[0019] Figure 5 This is a diagram for explaining the operation of the moving object according to the first embodiment.

[0020] Figure 6 This is a diagram for explaining the operation of the moving object according to the first embodiment.

[0021] Figure 7 This is a diagram for explaining the operation of the moving object according to the first embodiment.

[0022] Figure 8 This is a flowchart showing an example of the operation of the mobile object control device according to the second embodiment.

[0023] Fig. 9 This is a flowchart showing an example of the operation of the mobile object control device according to the third embodiment.

[0024] Fig.10 This is a flowchart showing an example of the operation of the mobile object control device according to the fourth embodiment.

[0025] Fig.11 This is a flowchart showing an example of the operation of the mobile object control device according to the fifth embodiment.

[0026] Fig.12 This is a diagram showing an example of the hardware configuration of the mobile object control device according to the first to fifth embodiments.

[0027] Fig.13 This is a diagram showing an example of the hardware configuration of the mobile object control device according to the first to fifth embodiments. DETAILED DESCRIPTION

[0028] [Implementation Method 1]

[0029] Figure 1 1 is a block diagram showing an example of the structure of the mobile body control device 1 according to the first embodiment. Figure 1 As shown, the mobile body control device 1 includes an information acquisition unit 2 and a control unit 3 .

[0030] The information acquisition unit 2 acquires sensor information including the position and number of passengers in the elevator car. The control unit 3 controls the moving body to rotate in the car when the distance between the moving body and the passengers is greater than a preset safety distance based on the sensor information acquired by the information acquisition unit 2.

[0031] Figure 2 1 is a block diagram showing an example of the structure of the mobile object control system according to the first embodiment. Figure 2 As shown, the moving body control system includes a moving body 4 , a moving body management system 5 , an elevator management system 6 , an elevator 7 and a sensor 8 .

[0032] Figure 1 The mobile body control device 1 shown is provided on the mobile body 4 or the mobile body management system 5. When the mobile body control device 1 is provided on the mobile body 4, the mobile body 4 determines whether to rotate autonomously, and rotates and walks autonomously. In addition, when the mobile body control device 1 is provided on the mobile body management system 5, the mobile body management system 5 determines whether to rotate the mobile body 4, and instructs the mobile body 4 to rotate and walk. The mobile body 4 rotates and walks according to the instruction from the mobile body management system 5.

[0033] A sensor 8 is installed in the car of the elevator 7. The sensor 8 includes a monitoring camera for monitoring the car and a sensor installed near the door frame. The elevator management system 6 manages the operation of the elevator 7 based on the detection results of the sensor 8. In addition, the elevator management system 6 sends the detection results of the sensor 8 to the moving body management system 5.

[0034] Figure 3 This is a flowchart showing an example of the operation of the mobile object control device 1 according to the first embodiment.

[0035] In step S101, the information acquisition unit 2 acquires sensor information including the position and number of passengers in the elevator car 7. Specifically, the information acquisition unit 2 obtains sensor information including the position and number of passengers in the elevator car 7 from the sensor 9 (see FIG. 1 ) provided in front of the moving body 4. Figure 4) obtains sensor information. Sensor 9 detects the position of passengers and the walls in the car. The number of passengers can be calculated based on the number of passenger positions. In addition, the position of passengers and the number of passengers may also include items brought into the car by passengers. Here, as "brought-in items", strollers, baby carriages, wheelchairs, etc. are listed.

[0036] In step S102, the control unit 3 controls the moving body 4 to move into the elevator car 7. Specifically, the moving body 4 enters the elevator car 7 where passengers are riding according to the instruction of the control unit 3. Since the moving body 4 enters after the passengers have ridden first, the control unit 3 can move the moving body 4 into the car while grasping the crowded situation in the car (the positions of the passengers in the car and the number of passengers). In this way, the control unit 3 controls the moving body 4 to move toward a place (target position) where there are no passengers. Here, the place (target position) where there are no passengers is, for example, a position where the moving body 4 can ensure the maximum space based on the position of the passengers obtained by the sensor 9. In addition, the control unit 3 can also determine whether the moving body 4 can enter the car based on the number of passengers, or determine whether the moving body 4 is subject to the weight limit of the elevator 7 due to entering the car.

[0037] In step S103, the control unit 3 determines whether the distance between the moving body 4 and the passenger is greater than the pre-set safety distance based on the sensor information (passenger's position) obtained by the information acquisition unit 2. Here, the distance between the moving body 4 and the passenger refers to the distance between the outside of the occupied area of ​​the moving body 4 and the outside of the occupied area of ​​the passenger. The occupied area of ​​the moving body 4 can be calculated based on the orientation of the moving body 4 and the size of the moving body 4 body when the moving body 4 is assumed to stop at the target position. The occupied area of ​​the passenger is an area having the area of ​​the occupied area shown as an example later. In addition, in the case where the passenger brings an item into the car, the occupied area including its standard size can also be set as the occupied area of ​​the passenger. In addition, the safety distance refers to the distance at which the moving body 4 does not contact the passenger when rotating in the car. In the case of being greater than the safety distance, transfer to step S104. On the other hand, in the case of not being greater than the safety distance, repeat the processing of step S103.

[0038] In step S104, the control unit 3 controls the movement body 4 to rotate. The movement body 4 rotates according to the instruction of the control unit 3. By rotating the movement body 4 in the car, the movement body 4 can smoothly move forward and get off the elevator when getting off the elevator. The control unit 3 controls to ensure a safe distance when the movement body 4 rotates in the car ("Yes" in step S103), and does not rotate the movement body 4 when the safe distance cannot be ensured ("No" in step S103).

[0039] Generally, when there are a plurality of passengers in the car, it is difficult to ensure a safe distance. Therefore, the control unit 3 starts control to rotate the moving body 4 after predicting that the moving body 4 can rotate based on the positions of the passengers and the number of passengers.

[0040] For example, in a car with a floor area of ​​2m 2 The area occupied by the moving body 4 including the safe distance when the moving body 4 rotates is 0.5m 2 , The area occupied by one passenger is 0.2m 2 In the case of , the moving body 4 can be rotated up to 7 passengers. However, since passengers have personal space, in most cases they do not stand close to each other but stand at the edge of the car. Therefore, two people standing in the two corners opposite to the car entrance (inside the car), or three people standing at the car entrance at another place can easily become the limit. If the number of people exceeds this, the distance between the passengers and the moving body 4 is easy to approach, and the rotation of the moving body 4 becomes difficult. In addition, the area of ​​the occupied area of ​​the moving body 4 and the passengers can be further increased by assuming protrusions or unexpected movements.

[0041] Figure 4 1 is a diagram showing the movement of the moving body 4 in the car 10. Figure 4 As shown, the moving body 4 enters the car 10 and rotates while ensuring a safe distance from the passenger 11. Figure 5 In the case of the situation shown in FIG. 1 , the moving body 4 can also rotate. Figure 5 In FIG. 1 , the sensor 9 provided in the moving body 4 is omitted from illustration.

[0042] On the other hand, in the car 10 is Figure 6 , 7 In the case where the moving body 4 and the passenger 11 are close to each other as shown in FIG. 1 , it is impossible to ensure a safe distance between the moving body 4 and the passenger 11. Therefore, in such a situation, the moving body 4 does not rotate. Figure 6 , 7 In FIG. 1 , the sensor 9 provided in the moving body 4 is omitted from illustration.

[0043] In step S105 , when the car 10 of the elevator 7 arrives at the destination floor, the control unit 3 controls the moving body 4 to get off the car 10 .

[0044] As described above, according to Embodiment 1, the moving body 4 is rotated when a safe distance from the passenger 11 is ensured. Therefore, it is possible to achieve both improvement in the transportation efficiency of the elevator 7 and improvement in the safety in the car 10 of the elevator 7.

[0045] [Modification 1]

[0046] The moving body control device 1 may notify the passenger 11 on the same floor when the moving body 4 moves into the car 10 so that the passenger 11 first gets into the car 10. The notification method may be sound or display, or both sound and display.

[0047] The position of the passenger 11 in the car 10 and the number of passengers 11 may change as other passengers 11 enter later. As described above, by allowing the passenger 11 to enter the car 10 first, it is possible to reduce the situation where the passenger 11 enters after the moving body 4 is boarded.

[0048] In addition, when there are many passengers 11 when the moving body 4 moves into the car 10, the moving body 4 may not enter the car 10 but take the car 10 that starts later. Thus, it is easy to avoid the situation where the moving body 4 cannot rotate in the car 10.

[0049] [Modification 2]

[0050] Among the moving bodies 4, there are moving bodies that can turn on the spot by moving the left and right wheels in opposite directions. However, the moving body 4 that turns on the spot sometimes slips due to the large friction between the wheels and the floor surface. If the slip amounts of the left and right wheels are different, the moving body 4 sometimes moves in an unexpected direction and may approach the passenger 11. In order to solve such a problem, in Modification 2, a sensor 9 provided in front of the moving body 4 is used to confirm whether the moving body 4 is moving in an unexpected direction while confirming the wall of the elevator 7 during rotation. Specifically, the control unit 3 confirms the slip amount of the wheels of the moving body 4 when rotating based on the distance between the moving body 4 and the wall of the car 10 during rotation.

[0051] Even if the moving body 4 has casters or cannot turn on the spot by the configuration of wheels, it is easy to approach the passengers 11. Even in this case, as described above, it is possible to confirm whether the moving body 4 is moving in an unexpected direction while confirming the wall of the elevator 7.

[0052] [Variation 3]

[0053] The moving body control device 1 may also store in advance the size of the car 10 of the elevator 7, the size of the moving body 4, whether the moving body 4 can turn on the spot, and the size of the passenger 11. The size of the passenger 11 is the standard area occupied by each passenger, for example, the area of ​​the occupied area described above, 0.2m 2 , or it can be the area of ​​a larger occupied area that includes personal space.

[0054] Thereby, the control unit 3 can assume whether the moving body 4 can enter the car 10 or the position (target position) at which the moving body 4 enters the car 10 when riding the elevator.

[0055] The above information may be held as a variable by the mobile body control device 1 , or may be acquired by the information acquisition unit 2 at any time through information provided from the mobile body management system 5 .

[0056] [Variation 4]

[0057] When the moving body control device 1 is installed in the moving body 4, it is determined whether the moving body 4 rotates autonomously. On the other hand, when the moving body control device 1 is installed in the moving body management system 5, the moving body 4 rotates according to the instruction from the moving body management system 5. The elevator management system 6 manages the information detected by various sensors (for example, the sensor 8 that detects the position of the car 10) installed in the car 10 of the elevator 7 and the call information. The moving body control device 1 installed in the moving body management system 5 can use this information to issue an instruction to rotate to the moving body 4 at the best time.

[0058] For example, it is assumed that the passenger 11 and the moving body 4 take the elevator from the 1st floor, the passenger 11 gets off the elevator on the 3rd floor, and the moving body 4 gets off the elevator on the 5th floor. In this case, the moving body 4 rotates when moving from the 3rd floor to the 5th floor, which can ensure a safe distance, compared with rotating when moving from the 1st floor to the 3rd floor.

[0059] [Variation 5]

[0060] In the fifth modification, it is assumed that the mobile object control device 1 is provided in the mobile object management system 5 .

[0061] The elevator car 10 of the elevator 7 is provided with a surveillance camera for monitoring the interior of the elevator car 10, and a sensor is provided near the door frame. These surveillance cameras and sensors are equivalent to Figure 2 The sensor 8 is shown.

[0062] The information acquisition unit 2 of the moving body control device 1 acquires the information detected by the sensor 8 from the elevator management system 6. Then, the control unit 3 grasps the positions of the moving body 4 and the passengers 11 in the car 10 and the number of passengers 11 based on the acquired information, and transmits the grasped positions and numbers to the moving body 4. In this way, the risk of the moving body 4 and the passengers 11 approaching each other can be reduced by the control unit 3 monitoring the rotation of the moving body 4.

[0063] [Variation 6]

[0064] In the car 10 of the elevator 7, a mirror is often provided on the back side (the side opposite to the entrance).

[0065] When the moving body 4 faces the mirror, the sensor 9 provided in front of the moving body 4 can detect the position of the passenger 11 in the car 10 by using the reflection of the mirror. In this case, the sensor 9 provided on the moving body 4 may be, for example, a camera, ToF (Time of Flight) or LiDAR (Light Detection and Ranging).

[0066] [Variation 7]

[0067] The elevator management system 6 may also include an elevator destination prediction system. The elevator destination prediction system is a system in which users on each floor enter their destination floors in advance before taking the elevator, and the operation of the elevator is automatically controlled according to the user's destination floor.

[0068] The information acquisition unit 2 of the moving body control device 1 acquires information of the elevator destination forecast system from the elevator management system 6. Furthermore, when the number of people to the extent that the moving body 4 cannot rotate is assigned (registered) to the car 10, the control unit 3 controls so that the moving body 4 does not get on the car 10.

[0069] Furthermore, when many passengers 11 get off the elevator when the moving body 4 reaches the destination floor, the control unit 3 can control the moving body 4 to take the elevator because it can be predicted that the moving body 4 is easy to turn.

[0070] In addition, when the information of the elevator destination prediction system includes multiple calls in the car 10, the control unit 3 is aware that there are multiple people in the car 10, and therefore controls the moving body 4 not to rotate until the passenger 11 gets off the elevator to ensure a safe distance.

[0071] [Implementation Method 2]

[0072] The structure of the mobile body control device of the second embodiment is similar to that of the mobile body control device 1 of the first embodiment ( Figure 1 ) are the same, therefore, the description is omitted here.

[0073] Figure 8 This is a flowchart showing an example of the operation of the mobile object control device 1 according to the second embodiment. Figure 8 Steps S201 to S205 and Figure 3 Steps S101 to S105 are the same, so the description is omitted. Next, steps S206 to S210 are described.

[0074] When the distance between the moving body 4 and the passenger 11 is not greater than the safe distance ("No" in step S203), in step S206, the control unit 3 determines whether the car 10 has arrived at the destination floor. Information on whether the destination floor has been reached can also be obtained by the information acquisition unit 2. When the destination floor has been reached, the process proceeds to step S207. On the other hand, when the destination floor has not been reached, the process proceeds to step S203.

[0075] In step S207, the control unit 3 determines whether the distance between the moving body 4 and the passenger 11 is greater than the preset safety distance, similar to step S203. If it is greater than the safety distance, the process proceeds to step S204. In this case, it means that the passenger 11 gets off the elevator at the destination floor and the safety distance can be ensured. On the other hand, if it is not greater than the safety distance, the process proceeds to step S208.

[0076] In step S208, the control unit 3 determines whether the door of the elevator 7 is closed. The information on whether the door of the elevator 7 is closed can also be obtained by the information acquisition unit 2. When the door of the elevator 7 is closed, the process moves to step S209. On the other hand, when the door of the elevator 7 is not closed, the process moves to step S207.

[0077] In step S209, similarly to step S203, the control unit 3 determines whether the distance between the moving body 4 and the passenger 11 is greater than a preset safety distance. If it is greater than the safety distance, the process moves to step S210. On the other hand, if it is not greater than the safety distance, the process of step S209 is repeated.

[0078] In step S210, the control unit 3 assigns the destination floor again.

[0079] Thus, the control unit 3 does not make the moving body 4 get off the elevator when the car 10 reaches the destination floor before rotating the moving body 4. Thereafter, the control unit 3 reassigns the destination floor when the distance between the moving body 4 and the passenger 11 becomes greater than the safe distance, and controls the moving body 4 to rotate.

[0080] As described above, according to the second embodiment, since the moving body 4 is not rotated until a safe distance can be ensured, contact between the moving body 4 and the passenger 11 can be prevented.

[0081] [Implementation method 3]

[0082] The structure of the mobile body control device of the third embodiment is similar to that of the mobile body control device 1 of the first embodiment ( Figure 1 ) are the same, so the description is omitted here.

[0083] Fig. 9This is a flowchart showing an example of the operation of the mobile object control device 1 according to the third embodiment. Fig. 9 Steps S301, S302, and S304 to S306 of Figure 3 Step S101, step S102, and steps S103 to S105 are the same, so the description thereof is omitted. Next, step S303 is described.

[0084] In step S303, the control unit 3 determines whether the door of the elevator 7 is closed. The information on whether the door of the elevator 7 is closed can also be obtained by the information acquisition unit 2. When the door of the elevator 7 is closed, the process moves to step S304. When the door of the elevator 7 is not closed, the process of step S303 is repeated.

[0085] The moving body 4 spends time rotating, and the elevator 7 spends time ascending and descending. Fig. 9 As shown, by rotating the moving body 4 during the period from when the door is closed when getting on the elevator to when the door is opened when getting off the elevator, the rotation of the moving body 4 and the raising and lowering of the car 10 can be made consistent, and the wasted time can be offset.

[0086] The timing for rotating the moving body 4 is not limited to the period from when the door is closed when getting on the elevator to when the door is opened when getting off the elevator, but may be when the elevator 7 is ascending or descending.

[0087] As described above, according to the third embodiment, since the moving body 4 is rotated when the car 10 is raised or lowered, it is possible to save wasted time.

[0088] [Implementation Method 4]

[0089] The structure of the mobile body control device of the fourth embodiment is similar to that of the mobile body control device 1 of the first embodiment ( Figure 1 ) are the same, so the description is omitted here.

[0090] Fig.10 This is a flowchart showing an example of the operation of the mobile body control device 1 according to the fourth embodiment. Fig.10 Steps S401 to S405 and Figure 3 Steps S101 to S105 are the same, so the description is omitted. Next, steps S406 and S407 are described.

[0091] When the distance between the moving body 4 and the passenger 11 is not greater than the safe distance ("No" in step S403), in step S406, the control unit 3 determines whether the car 10 has arrived at the destination floor. Information on whether the destination floor has been reached can also be obtained by the information acquisition unit 2. When the destination floor has been reached, the process proceeds to step S407. On the other hand, when the destination floor has not been reached, the process proceeds to step S403.

[0092] In step S407, the control unit 3 performs control to sound an alarm to rotate the moving body 4 and get off the elevator, or to reverse the moving body 4 and get off the elevator while sounding an alarm.

[0093] When the moving body 4 is rotated and the passenger 11 gets off the elevator by sounding the alarm, the passenger 11 can be urged to leave the moving body 4 by sounding the alarm.

[0094] Furthermore, when the user moves the moving body 4 backward and gets off the elevator while the alarm is sounded, the control unit 3 moves the moving body 4 backward slowly along the side wall of the car 10 .

[0095] As described above, according to the fourth embodiment, the assistance of the passenger 11 can be promoted by sounding the alarm, and thus the contact between the moving object 4 and the passenger 11 can be prevented.

[0096] [Implementation method 5]

[0097] The structure of the mobile body control device of the fifth embodiment is similar to that of the mobile body control device 1 of the first embodiment ( Figure 1 ) are the same, so the description is omitted here.

[0098] Fig.11 This is a flowchart showing an example of the operation of the mobile body control device 1 according to the fifth embodiment. Fig.11 Steps S501 to S503 and step S505 are Figure 3 Steps S101 to S103 and step S105 are the same, so the description thereof is omitted. Next, step S504 will be described.

[0099] When the distance between the moving body 4 and the passenger 11 is greater than the safe distance ("Yes" in step S503), the control unit 3 performs the following control, that is, rotates the moving body 4 so that the front of the moving body 4 faces the passenger 11, and displays the movement information related to the movement of the moving body 4. In this case, a display device (not shown) is provided on the front (front) of the moving body 4. As the movement information displayed on the display device, for example, the destination floor of the moving body 4 and the mission of the moving body 4 are listed.

[0100] As described above, according to the fifth embodiment, by displaying the movement information, it is easy to obtain the cooperation of the passenger 11 and it is possible to give the passenger 11 a sense of security.

[0101] [Hardware structure]

[0102] The functions of the information acquisition unit 2 and the control unit 3 in the mobile body control device 1 are realized by the processing circuit. That is, the mobile body control device 1 is provided with a processing circuit for acquiring sensor information and controlling the mobile body 4 to rotate in the car 10 when the distance between the mobile body 4 and the passenger 11 is greater than a preset safety distance. The processing circuit may be dedicated hardware or a processor (also referred to as CPU, central processing unit, processing unit, computing unit, microprocessor, microcomputer, DSP (Digital Signal Processor)) that executes a program stored in a memory.

[0103] In the case where the processing circuit is dedicated hardware, such as Fig.12 As shown, the processing circuit 20 corresponds to, for example, a single circuit, a composite circuit, a programmable processor, a parallel programmable processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof. The functions of the information acquisition unit 2 and the control unit 3 may be implemented in the processing circuit 20 separately, or the functions may be integrated into one processing circuit 20 for implementation.

[0104] The processing circuit 20 is Fig.13In the case of the processor 30 shown, each function of the information acquisition unit 2 and the control unit 3 is implemented by software, firmware, or a combination of software and firmware. Software or firmware is described as a program and stored in the memory 31. The processor 30 implements each function by reading and executing the program recorded in the memory 31. That is, the mobile body control device 1 is equipped with a memory 31, which is used to store the steps of acquiring sensor information and the steps of controlling the mobile body 4 to rotate in the car 10 when the distance between the mobile body 4 and the passenger 11 is greater than a preset safety distance. The program is finally executed. In addition, these programs can also be said to be programs that cause the computer to execute the order or method of the information acquisition unit 2 and the control unit 3. Here, the memory can be, for example, RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read Only Memory), other non-volatile or volatile semiconductor memories, magnetic disks, floppy disks, optical disks, compact disks, DVDs (Digital Versatile Discs), etc., or all storage media used in the future.

[0105] Furthermore, regarding each function of the information acquisition unit 2 and the control unit 3, a part of the functions may be realized by dedicated hardware, and the other functions may be realized by software or firmware.

[0106] Therefore, the processing circuit can implement the above functions through hardware, software, firmware or a combination thereof.

[0107] In addition, within the scope of the present disclosure, each embodiment can be freely combined, or each embodiment can be appropriately modified or omitted.

[0108] <Note>

[0109] Hereinafter, each aspect of the present disclosure will be collectively described as a supplementary note.

[0110] (Note 1)

[0111] A mobile body control device, wherein:

[0112] The mobile body control device comprises:

[0113] an information acquisition unit that acquires sensor information including positions of passengers present in the elevator car and the number of the passengers; and

[0114] The control unit performs control to rotate the moving body in the car when the distance between the moving body and the passenger is equal to or larger than a preset safety distance, based on the sensor information acquired by the information acquisition unit.

[0115] (Note 2)

[0116] A mobile body control device, wherein:

[0117] The mobile body control device comprises:

[0118] an information acquisition unit that acquires sensor information including the position of a passenger present in a car of the elevator; and

[0119] a control unit that controls the moving body to rotate in the car when the distance between the moving body and the passenger is greater than a preset safety distance based on the sensor information acquired by the information acquisition unit,

[0120] When the car reaches the destination floor before the moving body is rotated, the control unit performs the following control: the moving body is not allowed to get off the elevator, and then, when the distance between the moving body and the passenger is greater than the safety distance, the destination floor is reallocated to rotate the moving body.

[0121] (Note 3)

[0122] A mobile body control device, wherein:

[0123] The mobile body control device comprises:

[0124] an information acquisition unit that acquires sensor information including the position of a passenger present in a car of the elevator; and

[0125] a control unit that controls the moving body to rotate in the car when the distance between the moving body and the passenger is greater than a preset safety distance based on the sensor information acquired by the information acquisition unit,

[0126] The control unit performs control to rotate the moving body in the car during a period from when the moving body gets on the car and the door of the elevator is closed until when the moving body gets off the car and the door of the elevator is opened.

[0127] (Note 4)

[0128] A mobile body control device, wherein:

[0129] The mobile body control device comprises:

[0130] an information acquisition unit that acquires sensor information including the position of a passenger present in a car of the elevator; and

[0131] a control unit that controls the moving body to rotate in the car when the distance between the moving body and the passenger is greater than a preset safety distance based on the sensor information acquired by the information acquisition unit,

[0132] When the car reaches the destination floor before the moving body is rotated, the control unit performs control to sound an alarm to rotate the moving body and get off the elevator, or to reverse the moving body and get off the elevator while sounding an alarm.

[0133] (Note 5)

[0134] A mobile body control device, wherein:

[0135] The mobile body control device comprises:

[0136] an information acquisition unit that acquires sensor information including the position of a passenger present in a car of the elevator; and

[0137] a control unit that controls the moving body to rotate in the car when the distance between the moving body and the passenger is greater than a preset safety distance based on the sensor information acquired by the information acquisition unit,

[0138] The control unit performs control to rotate the moving body so that the front of the moving body faces the passenger and to display movement information related to the movement of the moving body.

[0139] (Note 6)

[0140] The mobile body control device according to any one of Supplementary Notes 1 to 5, wherein:

[0141] The control unit confirms the amount of slippage when the wheels of the moving body rotate, based on the distance between the moving body and a wall of the car.

[0142] (Note 7)

[0143] The mobile body control device according to any one of Supplementary Notes 1 to 6, wherein:

[0144] The control unit determines a target position when the moving object is seated in the car based on the size of the car and the size of the moving object.

[0145] (Note 8)

[0146] The mobile body control device according to Supplementary Note 7, wherein:

[0147] The size of the car and the size of the moving object are acquired by the information acquisition unit by receiving information from the outside, or are stored in advance by the control unit.

[0148] (Note 9)

[0149] The mobile body control device according to any one of Supplementary Notes 1 to 8, wherein:

[0150] The information acquisition unit acquires the sensor information from a monitoring camera installed in the car and a sensor installed near a door frame of the car.

[0151] The control unit monitors the rotation of the moving object based on the sensor information.

[0152] (Note 10)

[0153] The mobile body control device according to any one of Supplementary Notes 1 to 9, wherein:

[0154] The moving body control device is provided in a moving body management system installed in a building having the elevator.

[0155] (Note 11)

[0156] The mobile body control device according to any one of Supplementary Notes 1 to 10, wherein:

[0157] The information acquisition unit acquires the sensor information reflected from a mirror installed in the car from a sensor installed in the moving body.

[0158] (Note 12)

[0159] A mobile object control method, wherein:

[0160] The moving body control method obtains sensor information including the positions of passengers present in an elevator car and the number of the passengers,

[0161] Based on the acquired sensor information, control is performed to rotate the moving body in the car when the distance between the moving body and the passenger is equal to or larger than a preset safety distance.

[0162] (Note 13)

[0163] A mobile object control method, wherein:

[0164] The moving body control method obtains sensor information including the position of passengers present in the elevator car,

[0165] Based on the acquired sensor information, control is performed to rotate the moving body in the car when the distance between the moving body and the passenger is greater than a preset safety distance,

[0166] When the car reaches the destination floor before the moving body is rotated, the following control is performed: the moving body is not allowed to get off the elevator, and then, when the distance between the moving body and the passenger is greater than the safety distance, the destination floor is reallocated and the moving body is rotated.

[0167] (Note 14)

[0168] A mobile object control method, wherein:

[0169] The moving body control method obtains sensor information including the position of passengers present in the elevator car,

[0170] Based on the acquired sensor information, control is performed to rotate the moving body in the car when the distance between the moving body and the passenger is greater than a preset safety distance,

[0171] The moving body is controlled to rotate in the car during a period from when the moving body gets on the car and the door of the elevator is closed until when the moving body gets off the car and the door of the elevator is opened.

[0172] (Note 15)

[0173] A mobile object control method, wherein:

[0174] The moving body control method obtains sensor information including the position of passengers present in the elevator car,

[0175] Based on the acquired sensor information, control is performed to rotate the moving body in the car when the distance between the moving body and the passenger is greater than a preset safety distance,

[0176] When the car reaches the destination floor before the moving body is rotated, an alarm is sounded to rotate the moving body and the car is allowed to get off the elevator, or an alarm is sounded while the moving body is moved backward and the car is allowed to get off the elevator.

[0177] (Note 16)

[0178] A mobile object control method, wherein:

[0179] The moving body control method obtains sensor information including the position of passengers present in the elevator car,

[0180] Based on the acquired sensor information, control is performed to rotate the moving body in the car when the distance between the moving body and the passenger is greater than a preset safety distance,

[0181] The control is performed to rotate the moving body so that the front of the moving body faces the passenger and to display movement information related to the movement of the moving body.

[0182] Description of Reference Numerals

[0183] 1 moving body control device, 2 information acquisition unit, 3 control unit, 4 moving body, 5 moving body management system, 6 elevator management system, 7 elevator, 8 sensor, 9 sensor, 10 car, 11 passenger, 20 processing circuit, 30 processor, 31 memory.

Claims

1. A mobile body control device, wherein: The mobile body control device comprises: an information acquisition unit that acquires sensor information including positions of passengers present in a car of an elevator and the number of the passengers; and The control unit performs control to rotate the moving body in the car when the distance between the moving body and the passenger is equal to or larger than a preset safety distance, based on the sensor information acquired by the information acquisition unit.

2. The mobile body control device according to claim 1, wherein: The control unit confirms the amount of slippage when the wheels of the moving body rotate, based on the distance between the moving body and a wall of the car.

3. The mobile body control device according to claim 1, wherein: The control unit determines a target position when the moving object is seated in the car based on the size of the car and the size of the moving object.

4. The mobile body control device according to claim 3, wherein: The size of the car and the size of the moving object are acquired by the information acquisition unit by receiving information from the outside, or are stored in advance by the control unit.

5. The mobile body control device according to claim 1, wherein: The information acquisition unit acquires the sensor information from a monitoring camera installed in the car and a sensor installed near a door frame of the car. The control unit monitors the rotation of the moving object based on the sensor information.

6. The mobile body control device according to claim 1, wherein: The moving body control device is provided in a moving body management system installed in a building having the elevator.

7. The mobile body control device according to claim 1, wherein: The information acquisition unit acquires the sensor information reflected from a mirror installed in the car from a sensor installed in the moving body.

8. A mobile body control device, wherein: The mobile body control device comprises: an information acquisition unit that acquires sensor information including the position of a passenger present in a car of the elevator; and a control unit that controls the moving body to rotate in the car when the distance between the moving body and the passenger is greater than a preset safety distance based on the sensor information acquired by the information acquisition unit, When the car reaches the destination floor before the moving body is rotated, the control unit performs the following control: the moving body is not allowed to get off the elevator, and then, when the distance between the moving body and the passenger is greater than the safety distance, the destination floor is reallocated to rotate the moving body.

9. The mobile body control device according to claim 8, wherein: The control unit confirms the amount of slippage when the wheels of the moving body rotate, based on the distance between the moving body and a wall of the car.

10. The mobile body control device according to claim 8, wherein: The control unit determines a target position when the moving object is mounted in the car based on the size of the car and the size of the moving object.

11. The mobile body control device according to claim 10, wherein: The size of the car and the size of the moving object are acquired by the information acquisition unit by receiving information from the outside, or are stored in advance by the control unit.

12. The mobile body control device according to claim 8, wherein: The information acquisition unit acquires the sensor information from a monitoring camera installed in the car and a sensor installed near a door frame of the car. The control unit monitors the rotation of the moving object based on the sensor information.

13. The mobile body control device according to claim 8, wherein: The moving body control device is provided in a moving body management system installed in a building having the elevator.

14. The mobile body control device according to claim 8, wherein: The information acquisition unit acquires the sensor information reflected from a mirror installed in the car from a sensor installed in the moving body.

15. A mobile body control device, wherein: The mobile body control device comprises: an information acquisition unit that acquires sensor information including the position of a passenger present in a car of the elevator; and a control unit that controls the moving body to rotate in the car when the distance between the moving body and the passenger is greater than a preset safety distance based on the sensor information acquired by the information acquisition unit, The control unit performs control to rotate the moving body in the car during a period from when the moving body gets on the car and the door of the elevator is closed until when the moving body gets off the car and the door of the elevator is opened.

16. The mobile body control device according to claim 15, wherein: The control unit confirms the amount of slippage when the wheels of the moving body rotate, based on the distance between the moving body and a wall of the car.

17. The mobile body control device according to claim 15, wherein: The control unit determines a target position when the moving object is mounted in the car based on the size of the car and the size of the moving object.

18. The mobile body control device according to claim 17, wherein: The size of the car and the size of the moving object are acquired by the information acquisition unit by receiving information from the outside, or are stored in advance by the control unit.

19. The mobile body control device according to claim 15, wherein: The information acquisition unit acquires the sensor information from a monitoring camera installed in the car and a sensor installed near a door frame of the car. The control unit monitors the rotation of the moving object based on the sensor information.

20. The mobile body control device according to claim 15, wherein: The moving body control device is provided in a moving body management system installed in a building having the elevator.

21. The mobile body control device according to claim 15, wherein: The information acquisition unit acquires the sensor information reflected from a mirror installed in the car from a sensor installed in the moving body.

22. A mobile body control device, wherein: The mobile body control device comprises: an information acquisition unit that acquires sensor information including the position of a passenger present in a car of the elevator; and a control unit that controls the moving body to rotate in the car when the distance between the moving body and the passenger is greater than a preset safety distance based on the sensor information acquired by the information acquisition unit, When the car reaches the destination floor before the moving body is rotated, the control unit performs control to sound an alarm and rotate the moving body for getting off the elevator, or to reverse the moving body while sounding an alarm for getting off the elevator.

23. A mobile body control device, wherein: The mobile body control device comprises: an information acquisition unit that acquires sensor information including the position of a passenger present in a car of the elevator; and a control unit that controls the moving body to rotate in the car when the distance between the moving body and the passenger is greater than a preset safety distance based on the sensor information acquired by the information acquisition unit, The control unit performs control to rotate the moving body so that the front of the moving body faces the passenger and to display movement information related to the movement of the moving body.

24. A method for controlling a moving object, wherein: The moving body control method acquires sensor information, the sensor information including the positions of passengers existing in an elevator car and the number of the passengers, Based on the acquired sensor information, control is performed to rotate the moving body in the car when the distance between the moving body and the passenger is equal to or larger than a preset safety distance.

25. A method for controlling a moving object, wherein: The moving body control method obtains sensor information including the position of passengers present in the elevator car, Based on the acquired sensor information, control is performed to rotate the moving body in the car when the distance between the moving body and the passenger is greater than a preset safety distance, When the car reaches the destination floor before the moving body is rotated, the following control is performed: the moving body is not allowed to get off the elevator, and then, when the distance between the moving body and the passenger is greater than the safety distance, the destination floor is reallocated and the moving body is rotated.

26. A method for controlling a moving object, wherein: The moving body control method obtains sensor information including the position of passengers present in the elevator car, Based on the acquired sensor information, control is performed to rotate the moving body in the car when the distance between the moving body and the passenger is greater than a preset safety distance, The moving body is controlled to rotate in the car during a period from when the moving body gets on the car and the door of the elevator is closed until when the moving body gets off the car and the door of the elevator is opened.

27. A method for controlling a moving object, wherein: The moving body control method obtains sensor information including the position of passengers present in the elevator car, Based on the acquired sensor information, control is performed to rotate the moving body in the car when the distance between the moving body and the passenger is greater than a preset safety distance, When the car reaches the destination floor before the moving body is rotated, the following control is performed: an alarm is sounded and the moving body is rotated to get off the elevator, or an alarm is sounded and the moving body is moved backward to get off the elevator.

28. A method for controlling a moving object, wherein: The moving body control method obtains sensor information including the position of passengers present in the elevator car, Based on the acquired sensor information, control is performed to rotate the moving body in the car when the distance between the moving body and the passenger is greater than a preset safety distance, The moving body is controlled to rotate so that the front of the moving body faces the passenger, and movement information related to the movement of the moving body is displayed.

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